diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00000/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00000/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3713ecbadfb9401ac01d975dd31989c2772ad94e
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00000/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5b7a27b1fd40f83db38b62160f289494ddb3dbe2f4e69689780fad9acb6c9c0
+size 1752168
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00000/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00000/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6f73461b14f44cc6d3fb452633e4488d41bca984
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00000/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35fdc793489989112ff5da3eb10991d67020401fcdb25a822d35b72273540e94
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00000/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00000/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3df3d1377d9c5f03f2cd1c170fbe83f3ffe42908
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00000/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29519ab10456666f1df3210944d5484ff8f18d19d52f78263eeed6576c7ac018
+size 44567
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00000/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00000/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..dabed0b80036347cca48d330b65ed19248602f48
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00000/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0cea7fa033e2dae03dd53cb5da291684676fea3861de3d46d6ed8af79859b3a
+size 1683402
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00007/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00007/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..fd39b5ff5097e92eb6613b00f86f7c0e940b662b
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00007/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:efe7aa1fa4007f1a1b95e561a120c0f20817b7de6e959e4fd4ec17c2d4718c49
+size 1738619
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00007/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00007/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..952502cc552b590240cb16661ce64989a5abe94e
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00007/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:444e20c5a36c119b5cd74172b54c17e31d2513b65993d80bf3b2e2fcda8e9157
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00007/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00007/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8f18fb5263d72fa9a71a59b99d2bfb95bb2a114a
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00007/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa1058983138c793f96f92a2c8e1f4ef89c0698949a4de57a814d869af76faf6
+size 50524
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00007/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00007/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..45b61f7bdbec0cb70240ee0b94527a4aaf49a75f
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00007/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:980143e816b5a123c5cd244488d8eed2c619516ee3cbe3327ded2bfac63e0c04
+size 1624778
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00016/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00016/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..09c9cb0e0d2231091b322886e055db80931cad4e
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00016/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa9eb1eec9168d8cca00df57eea93ca7735c6410bc48c27464126717f6fa3339
+size 1686605
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00016/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00016/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..6b076b0476baaba93ed4366a6b7de248dc323be1
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00016/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4c22ed42afea2ffa6eb011d82250eb2a1114c25fedc4b82794a4e172294e54b
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00016/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00016/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..72022fa9f040f1b439bb2b4815d82f0d31a2de50
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00016/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91d704f5a0e538a794531e1e2dc39e2f44e94303b15b7cc5efecefc0860184fd
+size 50606
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00016/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00016/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..157ebdadb00caa52c9a78dbd8a2523c73e2797ff
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00016/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0934f9a269bb9eed94dd346f482f6df583a431798839cbe1736b248d821681e
+size 1570556
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00019/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00019/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..152422acea778ed6654c48c3d41316317155a8b0
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00019/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7772d6fc9236e5bad3fedd4538a58c6925348bb3f170d324b2a47ad8facfd6ee
+size 1702052
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00019/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00019/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..72b3a785d4b834ce2f2a7b79e26040830292cb36
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00019/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fad3a0b806176117efb12ddcace6d54af42049d43b99a103b2d9c361a871e823
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00019/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00019/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a25fb62adea0ea1d8d483128844086f11965732a
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00019/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de14fbed90ead97b6c0099ca87f6660497edd1e01e4805b50a840452cf540b90
+size 51880
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00019/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00019/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9802c94ead6bf2e2b3717f0fb2b9b54d2b62589f
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00019/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e0ae3fef43dc5ce8afdb47b3c65beda91d086bef33e1917bd9cb9b48dcca13d
+size 1604682
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00025/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00025/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c621d69338563aaf9f84919efdf222f10ece085d
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00025/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae56542e7046d398088ae3ad98e7795754b646c4f2d8f51aa5af27b44efc762d
+size 1678976
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00025/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00025/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a4c8e19f076568d00ac9f4a3f35f1dcafcdfcbc5
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00025/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14fa91c6fe0482566563709fc906ddd3ed1cbc1fcc97515ee5cf06e230ba2a00
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00025/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00025/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e41098c225290f744f664fd3175bc6c16f12540c
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00025/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db183b2d75598af791adbc2041cee705dd84acd83d3a799ca2e3b44a50315826
+size 55973
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00025/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00025/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..2898777455d50f973ecc9322fc1fba8591155bac
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00025/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2facf67835b7ba1b2b831b6016f200c4a3d3b809f5f85a1a2d7603e154b8e64c
+size 1584635
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00028/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00028/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f56d60a1b244b47a1024326ea78d2e394d8ff632
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00028/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07b35213c182a0e525e8c78901a5e4dc0e1a067508921c846ff6ef098f1446f1
+size 1674007
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00028/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00028/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..326662192a09b581d4b84f2e07c8643e57610b8e
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00028/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f31503fcd6cd473a7da6db22e9b8c237e748cf2d308c610aa77d059530a1f56
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00028/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00028/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8efc3fb0c867efd76f8118318b979bb139a868e9
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00028/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1db36d394e306042b9ba9405a0e55de1add74cec216a9a70856b5ac9bd0e8efa
+size 57664
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00028/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00028/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a27e44f2936bdbd9103f2efd811926692954cec5
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00028/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d17d838e6d22f841769aa49ad4b73ff579e54fcd70f1a22799dd4f520b8c96af
+size 1576146
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00029/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00029/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe0ac2cfc324b4b8bcfff690b999393e349ce67c
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00029/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ab9889d0e6cfa3348fa3312dffc22c2724b0a7609a898ad238e5d9a93ab8526
+size 1698182
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00029/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00029/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c2c827523435c4599b30add9f39d4571044a3430
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00029/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96c526be9702c609fd74f1695f96bfc0f1065384ca9641bf4a222bc8c01e9e7a
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00029/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00029/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f61bca94edfce5d7af028515378f43424879080a
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00029/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cc94cb5aaefc23a74800d7470279f0ef9e58c75675351bc4344a9d15807b3ec
+size 59238
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00029/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00029/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d1263a30141a9033953c974458c5b4d14798eae
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00029/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b32b35645b6957e1c1373713cc78585b613ce9451fd46c6ff6ef2dd5c30ee0c
+size 1580004
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00038/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00038/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe3bd17aa27d3d7b4230ab146cb047b0bb438c85
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00038/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f1e649ce0d71358258ecde8711d5a39c3326691d9f06e4647dc6f4270e59b6e6
+size 1722326
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00038/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00038/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..383cf5ad950e5ac4d747745155c96b2e54ea280a
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00038/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:149f36d37c4d357d7b85a72ce4cab58e4c30718ae49f27b5c9479734693b297d
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00038/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00038/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..01e09adbda3581cc2c031cc3fae491836db33f15
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00038/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00a7d71839cfbd2dcdfc4cc1dda4395dce5425ee2e3b4fd90fc72e86d2ef6c1e
+size 72757
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00038/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00038/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e5cbcea5e5fe4d21899d1ea154e3f6e564d32fc1
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00038/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7036b11ce8d76b745be1bdd9d0777deccf88d58e754d239f2094cc94088e527b
+size 1597824
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00043/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00043/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c527264272cca8650fb83228fd76d52209f39862
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00043/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e10e5527f032e9b30630a578720c8660f956cf6fcb496f305685ab0cf8d4ac2e
+size 1727597
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00043/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00043/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2e8c7d2dfe2f18eb57d36c6bd8336ff98da859d6
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00043/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca9c4b85497992801e95409566fae222dd8da84e03fa368c7d5b7e54ad70fed6
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00043/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00043/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..9750e60ad1f1bc6e1345c59edf4af966c4902497
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00043/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21615553593ce2dad93f25c664153fb52a595b9eb3f9622ef4cf3b0f9c6121db
+size 80849
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00043/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00043/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..13fd43c5d1b63756466aff09cb7af56f09bfe40e
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00043/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa80e8aaae660034a80cbd966fadac2bceffca962081833eb5ecf287db60e4d5
+size 1601025
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00044/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00044/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ccb216780b2c095c5521fac8bf6776c007614062
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00044/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7467f7073bdcdfaa3ea321a060cf9043744b211501eb84dd9ca3d9a8f7cba8d
+size 1740720
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00044/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00044/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1170805cce289884a433431ab1162bf7408fbbdd
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00044/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf9599ae35fe22b4fbcec2a64fc38c308a074223a55c8786bcdfdc3617637151
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00044/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00044/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3538d64da15a581741349a8837cf723d4df74a7e
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00044/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b788b47e0b656252ccafadc3fc583eb23d87f6eaba0a4103654a571b4a008df0
+size 82972
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00044/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00044/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6a1f8fb42058219f287aae01e14b71164541a45a
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00044/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13f8c9e7f15722ec89b5fde836c9fbce4dfbf749adb727fa9b319db334b64b2a
+size 1612842
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00060/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00060/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3cf581989b463694dd47beaa4f1fed7aac7da31f
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00060/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c6ac912c918ec74f3cad606e42bfedc23ba11036aa527a6f2fa75fa0fd0ef96
+size 1814433
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00060/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00060/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..8954cf79d8e830ea6d064c2a92cce92c8bb311ce
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00060/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee7772bfef794cdc87c2920b5d39a4602068221d29521df288d4689c2d4ee55c
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00060/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00060/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..37818ad82b2c3d4836a10db291664a011892fbbe
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00060/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5f707f070aafa82754ca00500e065dcc692c4e66fc20a70048f0e694dc595d9
+size 109634
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00060/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00060/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..007a2ae981969635b187f35b9e0da11d0f04b0ec
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00060/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:626c9a919c9876b4d7d0dbb74ce5a1abfb8d82538ba72d3ef40c5647342d881e
+size 1678431
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00074/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00074/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b0b42afccec3674deae9018b068343bb35d1b312
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00074/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ac77b1945941e8558092e3fbd76a8c50af2de937c1ba0eef0e13d08325f0dd5
+size 1813157
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00075/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00075/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8409f47dee7b62dfa4a49a1812fb27b4060575ee
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00075/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf43ec92b5b3fe45bda2a4266c72cf090d349ebb7735b1f81ea19afa2a90fb61
+size 1797425
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00075/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00075/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2535dc705c4ab5f57f09aa02ed4156eb77804a52
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00075/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e70c3ef124d412cbfbc193066e8d5d9a4a71575521200953f5cda52019ea06ef
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00075/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00075/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d24274b60f60c97819980a043f25f3a0929e4c03
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00075/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51a174ddbff486ebc89cd42ce1032ec5fbd72b98a24c1c14c8205bb85d86c0bf
+size 111867
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00075/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00075/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f08f177842fcbd3bfc0f488091fc758744eb0f54
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00075/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5ae22e459d98bcd32772691dae1bfdd06968b35afe75fe6affcd3d17ef5b6e1
+size 1670752
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00076/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00076/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..55052e2736d3600acd7ce7450c9559d558bb7d11
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00076/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a42f451bb4b04134689e347191669ac69ef4fb912d9ac2feb9773875987b5ae9
+size 1804008
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00076/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00076/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f0cffe3d9fd4c6f8bbfe50491b8334a2c0cb4172
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00076/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:735682c7e8d13e9b2bb96560633bb1bb506f6cd296bd3ae5bb98f4e2fe2df48d
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00076/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00076/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4484b1d676984ab5322f2de3be8eb39b51e2c6d7
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00076/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce5fbeb655d8ad81ed122d24e7e5cfdb02bb9edb697b2944a9a3a6e1ba748ce9
+size 111925
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00076/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00076/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9108ff0bb5cd85641d2b18e0f660212b29b2cd8c
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00076/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5de94f51f72b1ec92515fe9e266947b915e425ce2e2898ead8854b5a18bf1649
+size 1678784
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00088/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00088/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..811588490317e913dab6168e6b5ac8b8c8d72f73
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00088/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c62af424d3e211781f966b1a66bc1b5731cad3ed8b0cb9b3a4aa0d68dff5380
+size 1763645
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00088/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00088/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5e1c14d53d9bfb464e6a8edbb6127a0cc922ad56
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00088/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36477df8a9068b2f75410a5efd59abcfda657727a38f58d22cba606b016ec4d7
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00088/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00088/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..19c9037de903e615bcc153b1cc1dc5d6a7d66e6a
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00088/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b218bc33bced8c228c1a41e925eba4e78efb38146b0493476b6732bb3c91aea
+size 89079
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00088/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00088/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..60b16304b1c84f990b6f1807cd60f2a4bb8e169b
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00088/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68d10a9faf633e6836234c7503c49eba97cb05a808264cb1ec22bea968815c89
+size 1669881
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00092/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00092/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..94e81703d324ad7df6066bb4cc143cd4489b20c5
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00092/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86d033ed8145e958a7ae9e9ecfcb87b08cfb9140a8f8aac7173fd22a747e43eb
+size 1754224
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00092/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00092/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..72025d09650830b9785d0540bae1734433c0fe64
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00092/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a97a9ea38055646ac8d10582eebd6dbf39cefd2b52766b670263221d4c80ad01
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00092/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00092/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..38efa94071aa5bc944f4c82ffcbcc8c846528843
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00092/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:803bccdf7d208ca4fd8fde1f53fabbf11c22e05e5dfb88804400d0d76f30be3d
+size 81796
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00092/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00092/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..862bf50ed2dae98a9f16565b2be8efd3d846ae6a
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00092/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83c89dea105a3af9d67b4fd630534b0627d5ce7d1eb15aae7ab506642b28e4fe
+size 1654981
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00095/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00095/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e27b9e9c0278cc79db328821e4ae3858a0e1b185
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00095/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cc5a5d22db3f319f6db4cab28f378993cf0c595ee84e38cf37af4cebd19b40a
+size 1750153
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00095/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00095/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..46b37513c5723bf70b98fdb47aa19447315cc2a6
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00095/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a564e03b58f4d4d1832c204984e4e94f522d049d166111de9fbad377582309d
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00095/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00095/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..420fba41a14461fa0e26463e9564c6b1f4489580
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00095/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65ebce51d0546bf79f38d92675731fb85d6dba40bc87e85518a5730a85a41717
+size 80341
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00095/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00095/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7c36218fa5b3bcbc7b7e3d47ad5642ce1ea1e164
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00095/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb5f1ef2b91605642207bd17ec8b94e50eb6204a503a751b7fa693caa81edaa6
+size 1648223
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00096/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00096/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b3b4870f7eb32dc873bceb0a3ee025e1cff9ffda
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00096/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20e2092946787ced6bded3b775a5c688613de33c0f8cd2f7f2d064db7d1b6dd8
+size 1749963
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00096/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00096/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..0775bb5abe83f0c480a64ada52a591943320e345
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00096/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:724f6763ee0040656588fd193d8a2bf0b032dc16e199ee1ab31d37c6ad093380
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00096/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00096/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0090d5d29c1e8cc65d8d134238e371c56b1de37f
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00096/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d774a085845c0e7793c3f0cf2f3589f113c49f68939dc9c05c5e12836b53b96e
+size 80038
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00096/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00096/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a474c9153a60fb1f06a636e9e5b9c7050d78fbf6
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00096/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:54731bb83b324a868dd3b92ba8d289ac675659e256749eff0ec5221103db7f39
+size 1648593
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00104/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00104/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..fcd033970894ac2ce247ce830eb578bab95986ba
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00104/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8097826e4938a0af1ea8a23cf99a7f2266b2c287137c9cffe519263c01b25e3e
+size 1728425
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00104/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00104/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..38806b78b9c64cdfc07c2a4fcff5129b8d38643f
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00104/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6132d6f0941a23715cd93c094acdecab4d5587c15e568b70db19d49dfe9a7c0
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00104/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00104/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..26f42073b4c42e36e88b4c541a6eac4e89f3343c
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00104/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87ad87602114402d3f983c4f2dc00bbbd0b77afd3718316075dd2a9e05c0dc7e
+size 78361
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00104/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00104/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..da7467246db568f715fb6e07a731da17cf1f9807
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00104/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d669975ccfe265581aae0c0bb03050ac139d1b8eb16133c429aba41e1d18e96a
+size 1609148
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00105/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00105/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..322bed084b5148bedd14e8377cba8ab0baf79590
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00105/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82bc8134fa090ad6fbdbb5926a7a09259033217098b6039a03ec6f3d99ad93ae
+size 1732080
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00105/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00105/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4ce7951eabd29bcb616abdaf0e7c8c9e45e10a87
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00105/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:13883678ae75c35f3303dbbde018a851a672925efd28b182f567366d8380ee6a
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00105/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00105/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..63cef4c0a9de72f26321e65f6d3956551a64ce8a
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00105/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3da490f5f76ba7178ee3a46917a9ede4c895c74d4440728662e52943295fb560
+size 78429
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00105/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00105/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c82fe3ee6d9fd798a75a4754f2411dd9821cffb4
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00105/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3ea45d48f33d2ab3f593eef4c251bfd2518f999587dd94d0e8d191214fa51b56
+size 1613473
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00113/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00113/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1777c65af820ce81571cb2235326138a1861dc5b
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00113/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b799a8423bd08f9ba58b644954b96b6ed35f3ee1ded88ecefad88cc7bb24c3a
+size 1708154
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00113/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00113/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..39d80870631576296724f78a63603000d2d800c8
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00113/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02f04b182a040fd3a2137246d2720406accc9822d0241906c92284479f0e59fc
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00113/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00113/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..993f7119d440e22b2704a7842f59db769eda1f04
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00113/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:740323d8e5810ed8d90b0475bbb7d80b86d42ddcffbcb97340f369b2a2f4658d
+size 75765
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00113/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00113/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f4957e30bc393b8931578d5dd3156f0437d0b085
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00113/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a89b72cab170c65c7816eebdc789ab3db3e3b2b89399d4bcf78ab4fa0955713
+size 1605200
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00126/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00126/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..272647b963bc6abe26dc095e924ac1cfe25e5677
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00126/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27e4c00298510cad82bddb2accc1b1112aeaae0fda4ad5baaefbc4813ddf7615
+size 1777508
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00126/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00126/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..f1df3d23e3ea2fe0a158ebbb013ea2311c5ba9c8
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00126/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6413c7aa855132af9e20c5b50d360d2868103764331248cce56195fdd262a53
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00126/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00126/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..060147d435794ec4b794dbe877225306f0b4e5bc
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00126/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85aeb19d57382832c80feaea77d26049ac664fe48e8a2541ee29a9eacacf32cd
+size 82689
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00126/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00126/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a27fbcda6f1b7d5511f434e547bc92c9b367c7b4
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00126/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:555bce8e4fb40f2226aa2695e019a7cd0a1d269956925dadc9e9459916c9f6f0
+size 1653256
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00127/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00127/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f32f42d8942c407c2fc4007f044e41b41f32ef50
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00127/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c22513141e07fd850750a0c1b55cbddf8db6399251c9579b38b5ae93084a810
+size 1770010
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00127/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00127/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..61a2b69a4aac87bc1b509cce46aaacad8e7ae9f3
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00127/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50bda5623c415d22ef885e11ce33d24df2ac3381a47eabe1d3c38e5a830458d9
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00127/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00127/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0fd702b869605f264bfd3dccfb3116dd762fdc4a
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00127/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cf4e6b0dd6938827b899e135fbc53decfbad7b3e41ca1b5fab7038e7f837f2a
+size 82491
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00127/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00127/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6c115458114138848f10af1162491b31a9a010f8
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00127/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2352281a22aaa8214fabcff163cd20cc1cdde5f6edc468df33b16d1c52a5888c
+size 1638702
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00128/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00128/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c188e77c6605db6b938a37893c4bc7c8d14e3b5
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00128/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e2a5c0778566dbb6ed3ef9a6a75346ba519afd5f78bda1cb201cb869e2b0a31
+size 1768296
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00128/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00128/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..b596f98fb08311d1dd6bc2579bdd70259c0e7467
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00128/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72e9530bd1f10d8a896a6bbee7bb58f929ddb7cf962a664749a9e9b20330fc0a
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00128/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00128/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d143f8342c35fe8fdb04e7fe8455481752b896e1
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00128/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:515c3dde5922c27aafc0c9d39d1ce9971bc71e9d82113b6865e70bff86364872
+size 82899
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00128/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00128/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..5f1403aa8608398945d289e888ad352cae43c4a4
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00128/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71f3d7619117a71bd8aadf5298097be4de4b43f7848f337ce961141fdbc52f2b
+size 1642921
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00132/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00132/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..381f1bfaaae9e200ff341f2ef4457d71d2a3e3b0
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00132/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1120d098c37a962947bebf24c85afe7ca897092377538c5de6fc1eefd33486b
+size 1770860
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00132/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00132/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..397741b7fea6a4ccc23d70b290dcf468806eab77
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00132/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0d91cff334a79c94f3e695c6fc6f6ab2350633955e8fc6cc2cf579d582b773e
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00132/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00132/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ceb8d1e1b8ca70cf0515b5f2c6c4d7d1cfb12d80
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00132/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb0cbe30d124cd8178d9ebae1632faa6b19ff3f0ffb23ea36e37c925acf76de2
+size 84482
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00132/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00132/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0fbd9a262470c7871196575004ad3026d40cc11d
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00132/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cb7ec28153c4669facfa5b368ec0a1410b29ada37e9cb24b340361d8a220537
+size 1648506
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00136/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00136/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..49d0f36523772daa9e5092211c45f4380975491d
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00136/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd5cff8882df73a9614cb53211f019e6f3e52298b9c731147987531fd84b5ce1
+size 1753075
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00136/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00136/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ade4e0652ad34ee495274810f85fb8ba20d8ca13
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00136/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c56fd432e1bcbf31bcda2403189325bea8a53e3d1be8ff9560e6d2af7252d515
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00136/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00136/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e8695adf854b5fcacc2b1b371501b77dad36258
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00136/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:933d1f2fec64e128a2daf483ab3be6aefd6be0f60d91a1e5237945c666db1d4d
+size 83858
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00136/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00136/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..23202c64f44c28581f8ad4abc6c00048c2b44caa
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00136/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7366c93099bb8c11f056f5fa1f6db8513ac5142bf8c651b923af13f9cee0fba5
+size 1675866
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00140/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00140/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..83b34a15867beb231712e5647bda2f20131aa31b
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00140/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad7e02dbeac0ca0fade2b505892ea748d2774f022268d7130fc1cc9d89dac691
+size 1705230
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00140/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00140/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ee8dc2b234787c1fba2d1c54025699f56df7acfe
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00140/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:49fcccb1d1f3c42a0de76b5e0eb8815b758398b23c5c7c2dbd6be0a7156af0e6
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00140/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00140/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..cdf40f31d59df4ec8b1a28b1bfbe9b50bd195640
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00140/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:940b216f4bb16fe07880669c2827ef5770244bf39dcf0a772f873141992bede5
+size 77290
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00140/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00140/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9e4ea25d63e49fea7f1dbd1ed3745ed5a2bd909d
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00140/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9f87452c0cb48e4b1ce5b92885903928088dc28c6c132b57607491fc26ada6c8
+size 1620992
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00149/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00149/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..15978b99909cdd7f54f5c70f91a20bb52a260797
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00149/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1324a598893937a84fdb57438406301e32a62c3e98211d6cfbcbb62afe94c837
+size 1709906
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00149/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00149/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9a0a9e6f4927ad4716ae3fec4ea0309b660fc8b9
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00149/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:feb6a6664d48994d88adf0786247c2bf08ab33059a4764001e1f638bdcb85c32
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00149/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00149/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..27ca2f8e0d265d134f4dfd31d3a3355c4fb81bbb
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00149/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:990830939a49d2fbf8b47a487d72b0ebbdcaaee542f89caaf314a2f74065a24b
+size 72571
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00149/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00149/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6611f138112c22bf9831d3a2f80c613fad5eb5fe
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00149/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8db8b880e26525c09ee1e447d339e082108b9b5add9a364798d88b5b91a69cdf
+size 1624579
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00155/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00155/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..e8ddcbb4c270eef913997afdae2e85e3fc5230fc
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00155/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fff342464924bad7d72eb3c41fd7cd9dd90ba9dd9fe03cfb17225a0495079fb5
+size 1749057
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00155/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00155/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..458c26feb99cb51bc362968e9f10593a44bc23a6
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00155/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c9b6b70161b7bdb09b3a3514967819c679f7f91ce80915e91e4b9f084e2d4768
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00155/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00155/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d33e178e125108221b88774fd062b688f4e056d3
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00155/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7878b844edf93074ecdb8578e5271eb220a12dadc1036e6a1fe4a5467c3c0fbf
+size 88832
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00155/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00155/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..28eb643b18ade23a1097c1f394058e267aefd93f
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00155/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a509a70c73492e499c24d33df4fa86bc3d07f970779b385b6c302dd2d5631f96
+size 1654733
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00160/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00160/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..9d7e12179768b4f9519750734abb2632716fa212
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00160/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37d3da3b92d6c0eb3c2dfc662e1327cc30bd90705757cbb8007dbad2dd6e0af0
+size 1776019
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00160/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00160/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e9d219bd51b10bc5bbe6b68549de2ee91d13e45c
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00160/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1e2c02de5e16d3db427fb5e88d0b405c9d90fe7b71919193f84253f8af0a3e9c
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00160/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00160/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..79a2e90407959fd612c06dc6fe6c7cea43d98515
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00160/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e83bc40a78b67e652adf09f500017d528b4a75de04ef31e9a40c71aa0d4e262
+size 103881
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00160/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00160/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..13ff0c78ba5c0ccd97fb7e79853d8af22f1645b6
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00160/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b88077d74d1bb267db4f511c99ccc0f6f1293d00e637e6eab37e03eb000dbbb5
+size 1692044
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00167/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00167/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..48bb8cd99d8c9fb75a5e9e7bb882cc8a74cca815
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00167/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e640ed0876129ddd076f44832c70806de525104e9802ec66591305db36764c2
+size 1828208
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00167/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00167/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..26edf65645add82d532fd513693bf815dcda7b8c
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00167/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ebc4c0f8911b3248913ff5edaa987c8ef8625568a7bee3c9c08c3a9cdf7d3c0
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00167/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00167/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d6a85505ef0428b6dd7bc418c35a628de033358c
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00167/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38911baa6e93c641dbbc6d0a4eaf6b39e6957497e972c7216ef75074426a6ed3
+size 109351
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00167/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00167/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..961f0c0ac83be6c4356e4818e2f6edd829f3b056
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00167/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c97c8e9244aa9db6772bd7fb42e85777b66f0caaa8ce757381fb760609cd5517
+size 1746682
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00171/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00171/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..702fe3880894e2076a6c5d492754c406d8f46206
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00171/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4aaa8e03073a8377735b74d0ba5792513d5270f8376c3f416a484417a47750fc
+size 1814401
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00171/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00171/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3d9b3be6fa20d57592b165bafb0acd666740ac67
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00171/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fe48e1ba7b35285017aa5790c6535f346391edd60c3883411f168f4958d8a97
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00171/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00171/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..36e39a13c199cb3e173a17a42ce5dc339190660c
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00171/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e269686ddf22c73fa23c3421cbf61ca1b4fb5a3593b1126f44f3c335c77acf6
+size 106488
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00171/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00171/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..04ed183ddfcaee3c3f12bb9beea63ae69094f66b
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00171/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd66b3e6a624709ab23ed89337aabeebcae2cc6d8bfc6f903023d6c6fed30caa
+size 1727264
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00174/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00174/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..b8db4f37492ab075d3165b27252ecf39f76ccbef
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00174/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:600c9e5589d567c580a8cb8eaa5572759e84a1763a988a8b4f9069c44f14c194
+size 1792443
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00174/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00174/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3b0d6e68b5942aac251d10e1f31326ede26c1773
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00174/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0a9899cd6070c708a11be65a446f15f128ac68243303235b720eaa601f7bb0f
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00174/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00174/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c918f4b50fa23082a3a636d4a834117d42874462
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00174/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36141a71e4624ed673be5407b6479b390bea9a8e9ad37d968987e8d31d546771
+size 103192
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00174/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00174/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..512c748fef477f030beb203508a6c6d0e59a0ca3
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00174/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:deec1402dcd107dfa1ee7e1b7eae81f4c93ccbf75f69f9d32b0688ae0e5f0ee5
+size 1705792
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00176/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00176/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..22c0f56c4ff2aea2a416545da101775af757d34e
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00176/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17be55e120935244cd76a7f229efa78bb6ed348bd2e372841d2ecd096ab79757
+size 1776952
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00176/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00176/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2ef58ef9542e288b6030ce1089d4343910408b8e
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00176/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22d65f219e35400f929adc58ea91cd4e55f28c798444bf73ce92585b41771997
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00176/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00176/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..6f614fcc6274e49d91e299370f6074b71bdb8ce9
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00176/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6077b05922a64ba27439ca30ce9fcad0b52a48444ac4482cb79cb8f0da1559b9
+size 97777
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00176/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00176/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..604fccc5445b3ce3f1573c4be678d2b5104fdae7
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00176/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:65c96b36cce207751635c59e08ce4babb67db5fdd794f3a1b17faa141a175839
+size 1698985
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00181/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00181/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..fe55572fcdf96738e03773a88aca03a4b6ee3019
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00181/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:819ad0b9ba6939b3496f0710dea0d2847af8661074f553ed56bc90577dafdfbc
+size 1757248
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00181/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00181/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5feac3c98f56a330ebea2212b7b98233a595a601
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00181/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f31f85cd838d7f4af6bbcbb6f50ea8448b0eb5ca4ebd14a40fcda83c47892fe
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00181/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00181/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..497fe0414b40b0c5faf4deed46ac2c2091dd20a2
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00181/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c986d60529bee0f7eb98c7d092c120bc44439b58f986ed7ab00299076a8ec9ef
+size 90466
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00181/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00181/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9f725b72a45ac6813209eff192b0099db6f7c6a3
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00181/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e0994030d8fe5a185a3011ee309fb9d8686c0d608d0e86c75084c81cd1686ad
+size 1692085
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00182/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00182/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..9f775b571bd0b060b4b7d6623001d9a91afc5127
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00182/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fb35c0da72c848fb2fc88168f14b5360e71e968db52826ff37d77ae7e9072a8
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00182/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00182/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..da0504bd66f51416909e84add769b7e0277bc365
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00182/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37524a9d99faa92de3eef0c0393cddea270ad2b063781fc0fba3c87028724af9
+size 88527
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00182/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00182/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..063f152022a0e9073fe4977ddd7268dae3c80de0
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00182/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1a5a727253c1b8d39ea0b5c26929124931ff5eec073118a85d2b599eeee114c
+size 1693982
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00183/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00183/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..70c9cc1c084855a56ac23943982414b8cff04c9b
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00183/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6a0949bb3abc00ab38fddfee00fc0538a93dcbd256734cba5cbdba4b7bee0d0
+size 1762773
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00183/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00183/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3fee79049dd916bcd7157553bef69a2ce2d43960
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00183/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8b092889cc3041044a317246299e4612fed8740b30fab004f1e1a7f2f6a936e
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00183/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00183/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..aa7502a255bbd822a1a29dff3735f14061afb658
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00183/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c59fdc44463319d6f664b32f032287e2ece2430a5f8cb7b3395e76f72b30c5a
+size 88020
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00183/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00183/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..6e29e9d95e5557124da46090571c93c8fd562ce3
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00183/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:beee1033e87b89b4e48c337684051426625a56581051f08f930695da48ea5719
+size 1696868
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00185/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00185/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4d587b84d06c9d2b653dc92aa6dbfcb1122d06b1
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00185/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29b479463cfe90c4d5aad5b03ca6654723e2eb963f759e236500f748a3b461d5
+size 1759604
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00185/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00185/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..e8c3f6a5eeb73f6e1cec7cc8afc9a27bb74fab6c
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00185/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a11713afced377bcc2168e6f5432d20f96b6a5100b589d90309743e47e1de255
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00185/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00185/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..14cbf02577c4f48c024acec41a521969a1d056ae
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00185/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5bc131dd7e3f2e7da134ca98c137e2e876d03ddc796c1a36d130ca24e1a0363
+size 85569
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00185/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00185/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a19f1ee1e6c722ca7988bc218fd3fc45d6d2a81c
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00185/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d59fe7be6e9590749012befb2ec8eb1303ba4c140e6da681a3542d598af2f3ea
+size 1706127
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00187/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00187/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..3207049b0f2db7e0daf2f6f386cb38e2417abbaa
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00187/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23dc5adde33a822d505cd0cc6dc27f1e4b37bef1e5919871b6002c6b3c0d56f7
+size 1751569
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00187/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00187/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c9344ce5b8789f12dde441d4596abaeb689b8750
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00187/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee327ac01c3343b708b1c5d057811d2829ab1f8ec521d99b9b70fbbce7381958
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00187/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00187/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..3e4c748ff1094b73176bc6dfc9ac23ee002b599f
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00187/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:776045ebaed771942efcb7d84c380ac34f59158ff6b7d3114f17bb6cd17899a7
+size 82302
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00187/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00187/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..9785e0c5c2665bace1248aa3c8517d1dbe4df995
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00187/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b6b64665cb0752930e12c4129dd174fe40462eb633f178badd25e22ec8cca52
+size 1699014
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00189/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00189/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4781e324f1df7eb5cb7a067d5b01079471180e72
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00189/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:265656d5fa0b32a2ab5e67de7661f2954fd91a1d4470148b5162d456881a306c
+size 1740669
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00189/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00189/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..26b6e34e790d8cf2b0f6a0500155f40c442cdd56
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00189/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:debfa5a9869cd36eb7587a6e874a23872fd770935bce563c0be6f6c424ae5e58
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00189/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00189/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..fbb641e69b53046b48f63dc849e53c5a76b598f0
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00189/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a9ad3a3f4aefe4882dbb9b2f621ecc92536cd21d920123d3c37ae31b4f83d5f
+size 79796
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00189/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00189/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..c5ce237fb76e1270f09ca6283ac73503c78ba59d
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00189/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e378a9521f65880e78966a5e37e6e63a9a6335f4b49ee971e173af0d2e9fb4f
+size 1692479
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00191/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00191/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..ec9a71788e00f834449fc4dafb055cd2760187ff
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00191/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f5f641a3ba14a4bb23bbe8c623766c922d24d3af3aa1790ec855b43feb5d777
+size 1742352
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00191/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00191/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d8647e03a834695593e7a036e5af7762b5633ca3
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00191/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79479d2a2efe6883b4e3f80a345b72827f8d6cb7992752fa8372def5e9ff5377
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00191/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00191/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..8dc5540856e3064ca2d97d30f6cfd22aef82372c
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00191/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd5ec187db29c9eae743c6160cf109543be1b1b48f9abb8d1a9b4526b12b0704
+size 78375
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00191/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00191/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf902fa69386ac64ab99ab97326a1c46591421b2
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00191/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d495c1dfae5c2c0a77aa7404398e7d8224b8a32e5ea53128ceec4d326bf7fbe1
+size 1698454
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00194/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00194/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8968c872e5a4e5aaa624aaaaf168cfa0b416e262
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00194/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d4b35d88271c1cf35525d7b2a561ca011bacf31241ea41d8053d875cc05bfbc
+size 1729812
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00194/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00194/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..58ddd6ff57a18a7400dacacde0ab126fe0853944
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00194/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:164f0c4bc1f272d15fe065c5a3f36cf562bfe8c8c1001e0f04f247c8dae5eec3
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00194/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00194/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2e3f56cbf09886d42e5d9666c1a4595bc22008cb
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00194/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99e7094ab8dc41ccde8b12055eea100d7ff2bd122a3d6d15d0816a16d2962a36
+size 72515
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00194/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00194/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..20e7825981c63beea3d54c4e4411af8aa45d7c0a
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00194/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:293e4165249be626724081f0c0419029882a4a6022e75256f924fc217dc7317e
+size 1689186
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00196/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00196/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0594d27b27290b4e41ba90df2783d2e2ed7b978f
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00196/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1dbe9aea4d9737843605c06a641fb8de7e65760c7acfa68834268bf3f6fd21d
+size 1718116
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00196/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00196/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..068376bd4319b62dff2b87ac6678858275f98bdb
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00196/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4723893a19a70bd1535424da27c398fffdc2e644c918740f31b1fe5ea6cca54d
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00196/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00196/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..2ab27f22638684d7cdf0c80a61cf21a6cfc9a9bf
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00196/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2e055cd5273a279dc347c6369ad6e0364ca23279f42f5900096b5036ad2e0cb
+size 72916
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00196/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00196/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..259bb2476bf7b21bbd4ea8d3f856ed9345bc339b
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00196/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fcfb40d372347250fbce2dfbc4bd9bd54f28199ecdf363b1c127f1e34ad7665a
+size 1679874
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00202/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00202/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..65dbde1a7263bea9abe541b6fc67c82e02fe0dd7
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00202/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b52aeb5eb5dcce59afeb946e2a2a09c6839b7ff02fea4dd01008611e09c8eaa
+size 1711184
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00202/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00202/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1c14c5930f6855e985540156ca62900e87c908dd
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00202/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f188edf627d08c895ac5336b7bd3fe3c610cd4bddebbd4e4cf3e5d872dce972d
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00202/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00202/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..f1c7827fc36a984f69bb3bbda9c953f77287f4ff
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00202/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:222bb8847222b9efbbc6209a3cd3215b2ca12ca6ee5a5393999ba8e427ca7d97
+size 77662
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00202/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00202/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..44aa36000501a45d8f73ffbf6ae11b0d39b24bfd
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00202/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:faca3ab78da862623c7e1500afc8a5c5106215ce75736c77b5e213d38d83bfbb
+size 1673697
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00206/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00206/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..82d2ca7432e359133e9f44ffc302afb59327b8be
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00206/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:acf48a4eaee6bac3432a0f828b3900bd6873b580334bd95a6c154cb460d90f8d
+size 1703705
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00206/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00206/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..5388d336097fabeb11c31c46e22c354d9cbe40db
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00206/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39330c58bb8c9dc82a2a72af81c95ff307696686b4120f4e741b0990cb4a14f9
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00206/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00206/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1628aa9a8b18f8920de22d1de48a559d396c3b83
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00206/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc574ab06e3f4785410211625f78bc92ca2d01b21e04861da6bf556995d36b52
+size 77140
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00206/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00206/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..7886a918d445573e21d2c032ae661b0f19a8b7dc
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00206/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4029cb0c8833e4d0581e384b3e8a9f4914c8e4af30326f8fc50ed22ac85f26e
+size 1657440
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00207/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00207/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..1a0147638c9d55271d68970b431cd9c4ca292cea
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00207/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8fbe09e9305c8094950a62cd4a33ef7bcd6a2eebcdfd530a60010c35ef31980
+size 1690361
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00207/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00207/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..49fd4128139589f36687f6fe0ca05bd5a6364e67
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00207/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99ecfd2e0b67d0ed23fb7f6ffeb3ad941980f5916945230f43ab12f49e1473d7
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00207/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00207/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..d709ee06bac07bb055d839882a2dbe0f7d494436
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00207/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99911e72599f4e67a86842c4ceeebbebda58fa92c08cdb9d03e1a9d20cee798b
+size 76951
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00207/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00207/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..035a8383615788c9a11da0946f48438c75078e11
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00207/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da8fc0f2e9b83f6b319fcbdccb06dff32849ac5b01fc31d8ebd4a253164e9ccd
+size 1652549
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00208/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00208/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..7fda2122a36d72ada2fa872cc511524fcec9d5e8
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00208/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fa088f3fa6966ee06c404fd33d4cb59e0c457b94883ceadc498b92fbeab4596
+size 1689647
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00208/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00208/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..34213fe1c5861ca7885d765a5ec0e273a208e1ce
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00208/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8cbda69acc3b4640a07606e905a7915b5c86ef013ef02a1286f9c1a338de2d0e
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00208/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00208/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e6e3572d0277be720227dcd07edf51432bcb2a1e
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00208/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2dc73bbee0a37358b345deda56cc2234699069f531991bee763ad5f13a599c9e
+size 76045
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00208/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00208/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..87a685398f857c4530020ee3963e8a1d3d760276
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00208/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58776eb578a02ecc6552b4c0cafce0e09cb43ea191417cdc4f40dcfd3ef23c77
+size 1659163
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00220/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00220/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c289f581148d98f055026d180c5c93bfefde485f
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00220/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d4b35236de877155369ce8183274690e71a33b72e963d0edca7423eb49c34ae
+size 1694403
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00220/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00220/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a8a811805f844fde2af8129c600e8209d829c692
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00220/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b22ac85a5bedc0d5ca2415455139d0b86764cdfdcab49bab8c4381488f483fd1
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00220/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00220/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..316ecf2de8635d35308d8ef05d5fe5ffddf01f6d
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00220/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87cd12fc160c7fbd415e4307d3e4bcf8340ac01235bb91436b06bdc8e010890c
+size 63023
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00220/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00220/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..558be32e385987a3b70426f4c63d45a115491a32
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00220/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f572b0c4e3dda537d1f66f02c0cfdd6db55d0cd8ff616301ee58457e89d7749d
+size 1676958
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00221/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00221/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..cb605e15b059cb60b58abf15e251f2e859c1e030
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00221/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c949423af4a265717b656424972d82f447c5b0bfcff9ac079efe743e5ed4ede6
+size 1688946
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00221/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00221/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..3304a52fb5a51cadb2065ac6a07f9499f0f52f8b
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00221/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5ea7d663daadbf0da34ec3288ad619bae2bf71e41ce67d108c91f9ad64a74dc
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00221/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00221/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e96e313cec8dc01dd525b68c606aa29321fe7ccb
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00221/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02bb368968dbe0001fe57c3e25ee06d4898c22cc2c76d1e5499d3153cd2b7536
+size 61796
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00221/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00221/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..ca20a17a37e321939dec753cecb8c15caf9596ba
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00221/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:07671a8b9012159364a6db5cd7e0e681b390b2399f24189b100d242b94c4afa5
+size 1678402
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00222/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00222/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f195d21f35fc0df9cd6f575e59a5ac499e7c2c33
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00222/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2da8d86d94b5862055281132d236a9a214105d0497f181fabc561bcaf5f99a6
+size 1687492
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00222/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00222/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ead37a28acd364f1721ae697c7b551ec699422b2
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00222/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67f5654f4438cb7632264a300b71ee5bc3d300e0a34692930732b8924f8d8cd3
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00222/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00222/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b175bd91bcb1d85d16dcb913cd914c816021a403
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00222/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f98e194171517d4f00e01c88dfd7adbc35dd076ee31e6faeaacf3b41865d2905
+size 62490
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00222/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00222/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..cc9db66b6d601c8e7594d92387c0020b93b77cbf
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00222/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88fc63ab0370008fe182306d4b0327f42defe22f184c1da347e6d6a3c5204864
+size 1679974
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00224/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00224/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c346faa1b97e4b8f33af0b8f15453e1937110e24
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00224/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a9394225eea4b81f156833e0f15738aa52c9e4a7109d5a246c22f6e1f284330
+size 1676983
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00224/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00224/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1dacb66964fdca3db026bfc2521a106fd7e62bae
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00224/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea71a5f795669fa71e58dec914f506acac7f945c5af830233f261a64b7cf8d6c
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00224/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00224/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..0457459be9dce9a5878b6aff2779523f601cd560
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00224/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9ce8e813429486cd796af43117d6a4207b8db51aa8eb368fa834883bf41327a
+size 61432
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00224/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00224/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0bb8542fe31f9660f9dc6c63458906565383c697
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00224/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bad569d8530a42a70a421df92c44a0ecc8938bd1c3723d98235bd8fed5b6509
+size 1670926
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00226/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00226/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..64ea7a2b1170a061a84e66d8a64d4fa063aee525
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00226/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b428f5ee888da788984c1b3e4795b2cb472b5e86a658b2cbacf11fad2fae9063
+size 1675808
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00226/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00226/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ec8795ab8abc996a64298754ed9c41e0a1268c6e
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00226/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:970b05405c1acbb36f05501947bc7b19df0292cf4d1aee11f23a8b1bc74c4844
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00226/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00226/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..400db8ce3db50eb3f8eda01bf1c23afbbfcf34de
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00226/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33624618ad8e2952aacaaa644f3aec16f6296ea5e80f83fee66abaf379170460
+size 61731
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00226/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00226/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..1dea0552fafd0822c5814f304ce3a214139e5384
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00226/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e752b707b78544395f9ac23d63326c16554c7a92b075ef0cb75fcab87ea7d011
+size 1660629
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00227/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00227/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..8279fc089623229049907355ec4c06b0c617069a
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00227/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32be909dbf48ff4b76aa5db9f899f2d98badfced87f09a7926588a2e36714f47
+size 1663579
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00227/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00227/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..ba31d7b2325635228eb7364713bbd1ad73922d64
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00227/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9be1b5e34aa1916d4239a5021854d79450e09b68fa5cc364eb426fba201da3cd
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00227/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00227/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..60a34660a43f1035b15f6739f8c2f5906e86468d
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00227/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94260028821a47f62a496975e2469fa6712eeed5f40f3fd1373c231afda4d4b8
+size 61588
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00227/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00227/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3101105d07634c238d6f88c90b79abaaae0bc174
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00227/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d97958a8762442b51e72a6a6fee61aaaee10904c3045c7953a8fb2ece7d143d3
+size 1650643
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00241/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00241/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4d542f99d37cbbffa8ba7189d7d56be94b6662f8
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00241/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0cec17a5ac61096b7d154e98b51faf82d14ebdacc1374406b2f39efaf196d943
+size 1669616
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00241/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00241/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..99ca408ee808555f0863f16685d14ddcba9f4fc7
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00241/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b775aa430f05f1c64ffc065ad62bdbcaa7cea1ac87d10fee870635141104999b
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00241/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00241/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b4d486b067da0e65e14e10d3a72ade1582890d1b
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00241/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3522445640d5dd271415f37e4d3e5bf9b80d8d93a8b1cd1a02484498b0e6b545
+size 68319
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00241/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00241/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..defbe9b564ef16d7c0a4a4e8f5359c37af5e1fc1
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00241/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddbdc15ea009c233379d076763e2eb8e184d6a56d23a548b1b3a903f5b018146
+size 1659145
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00249/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00249/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..f679e99f048743d26f939c7fe2b0b5ef110b0bfa
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00249/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f2075fea08980250a61e32c342c9e51255a9b9e4d2d48d0561642731e49ee4a
+size 1683742
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00249/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00249/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..7baab62ebfe5a960e4df55e4df98d31ba2098ad0
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00249/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97604868d5e21ce3112fa457d8fb3e5f37c7658a43236139168bb2d4529e55b7
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00249/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00249/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ccd1f3aed0a3da7985dd90a274fac82dc0716faf
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00249/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:507c8853029db494ac22e5c7b9f6829700459d20debbd3d86132ed0e8633bd89
+size 70839
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00249/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00249/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..496fadfc0bc654d1bb457e54ef05afc49ebcaed9
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00249/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a83ac70f61466ecabc4b32ad2dc0e3126d0306ecac2d8a1ca1d2ec18dca6b185
+size 1650961
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00250/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00250/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2c200a6506f654b264dc39833674b086b8bdd994
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00250/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e0c5a2d908e6c61d16bdbb0d7b6d06af3a4303a65d4699e2d2ca593aa44d9b3c
+size 1698748
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00250/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00250/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..c6f47bde2d4f5b9c2292394c68bbded4a57c3371
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00250/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6924198ba0e215017e0f28d2c451649c904d0c315c8132dd101e11d2867c8b7e
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00250/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00250/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..4ed99da4c214213d67268a1c6ea7ffc860ecd046
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00250/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:338b931cae0f6e961af0f24d08cad98996387579a018ad7b10ea7f6633cf801c
+size 70769
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00250/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00250/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..a5b2e989afd0f6e90f430d0fb437182778bae2ad
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00250/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b858c036935c12b2dbcb73eae712fa79d6dcb99191861173972fed0bb32bcba1
+size 1671457
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00251/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00251/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0a290768e2eb9bab619551c7454bb5fb666473e8
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00251/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b17b65e7ba786ddae2631049d8e4dcba4d9aace32bffab044a58c7ec6ca8da39
+size 1677311
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00251/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00251/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..2642920e3f46d5e06c24697eec82a7f77e08144d
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00251/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:542329380bdc212a2357fc6b24ee4e02c629e4be39a5959ef0e808437adf137b
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00251/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00251/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..c64695c2c6960fd4aeaadca1a56e5626bf87af87
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00251/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2aa835c43efea2ff511d3f32c0ace941053cf5ee3d6a3a5bcdd7e6af52900a8e
+size 70277
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00251/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00251/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..070f2d8e327ecc2c0d7a26735a88b5a94ed67ce1
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00251/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:041389957185cae6c10cdeb61c20aed197a83e1901e80bc7484d66bc595090ed
+size 1645651
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00252/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00252/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..4851e5bb5aa192173add9366980278f4bf965c26
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00252/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cb1b48233b4625a427dc0d83b57036b476f316c6a668d58a92c72246b22f09f
+size 1689711
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00252/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00252/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d0b4aba59f5bc7e9f1ea2f707778675844ab85e3
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00252/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ddabd6747d037cf6b0cadb820c4bc6dd880c524b2249669d384c85c0898e74b6
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00252/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00252/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..793816ed28b3a06238c71f826011e9734b67e54e
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00252/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:956b9165bdffb3aff556bf84e08dcb33442cb3a8e7b06e3992fec6183fd45251
+size 70186
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00252/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00252/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..0c28a06bd1947a3b117c60cbca62f0fb5662c4cc
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00252/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ff858ea0637748fac1cdaef01263f2754c976dd1af4515edaf337a801dd071a
+size 1647591
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00257/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00257/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..cf84b1fc5a4c8a95f7c68fb9c9bcb7942f689d5e
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00257/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b13277e71a19d2a7ee5066e261c9022411cc9cdf957fc7d99857a108de0bbf6
+size 1648499
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00257/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00257/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..1e7edc43c6551a590c59773ad72195725b05b296
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00257/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2508bc217b80ea3fe739c50705b14c4a1a36180b258238d73c0c4190b5336c5d
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00257/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00257/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..df23300e956cfd657be0e3bc6e98e0546108c5c6
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00257/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0155f01c8a80338a317234be0adf2fdb3061cdd7e1da183fa26e5c28b3f5ad8e
+size 71559
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00257/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00257/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..3767a0bcde81223b9dcda1191d1a87991ee273df
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00257/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23dfa7e8f28f920673584b675dc37e728fa87884562db9e9c5512af9429a607b
+size 1623504
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00264/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00264/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..22cb39b80a57ddf1eb2313cae9386ccb51782d3c
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00264/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3505ba2495d720d72baea3d17985670f900562fcf3ac26f9ed93bc90655d91e9
+size 1665129
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00264/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00264/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..66cd730c4d8162514d34c8f34461a570f4d47cf4
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00264/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c6fa80263ff3f28a1d20b2392208700d83591d8fc0d749c61343f377114958ed
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00264/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00264/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..a02ff8c3c1183b80582ccd1108b18d4b0f42d45b
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00264/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e9462bfa3799e213bef9cb657c2a59e6212145a7be18d9e1b7f18c6588b310f
+size 81668
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00264/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00264/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..f6929c49db53a8c0ce8e95542f930c6720428c19
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00264/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82f3658fac9a84d8180e1ef47fcb4093d17bd5b5e7f4f017f2da46a4b160911c
+size 1629323
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00272/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00272/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..2f0c9dd540bf6834dc344fe29c28e37d80747c1f
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00272/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39d1d18e127cf3bde2b3c3552473dd1a87c5d7a1ebf2e31e1abd072f7273715b
+size 1723892
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00272/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00272/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..4d8ec1e93ba4291295d2ba80d04b0b82f05b709f
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00272/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d28b29d15920993864f0e7e71e3581457fcd2adf8bfed3c6ae0d0987c6251810
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00272/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00272/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..873cff2741a0e1d00d23d0d955f83b09b4501538
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00272/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7646f6a1e8a2cc76bfb803b44bc02a507ece37c091e2b351c88b625d9bb21935
+size 96671
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00272/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00272/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..4f72d7d76cfc2d0268d48ed0af8ab67cead93507
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00272/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a8e5a1ed6783aa844f956d2daff085b2004a80b81e08f4da8d14ba289048a3e
+size 1651712
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00275/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00275/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..0b9794392322bb545b872669e18603114fc36455
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00275/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1493ab328c673a8efd26136da8570c48afbf9449248c4cef2f3624e41aa57cde
+size 1712404
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00275/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00275/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..a6e6120bf365d97791d1f47f8ba089e8ab803a8c
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00275/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f3b14f8a64a0177c2b9306600be86518c3a6d7b445a260c6811318713ff5ba8
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00275/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00275/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..e13ed3ad3e6ca1d8efc7702e162a0a35f2a9e64e
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00275/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a58f61f56cb41018462c87f0bd46013efc7e4e4e08fbca5922d781a4f77087a9
+size 96915
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00275/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00275/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e27bf50ef8843e1e0f1e5c0004cdfb5af01b1539
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00275/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92af0db83d9b2975b41fea1ec3a1e3835f1ab9d179bbc3b94e97216a664bbe94
+size 1644112
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00281/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00281/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..25a23c4858433a2cf5c0f2e55790f22acad4732f
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00281/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e86878a39bbae5a1d4dc9d20c292fb36eb8f4732472fa5bbf96bc22914cd3ce
+size 1719493
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00281/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00281/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..bcc4ffba1ff605a5d0797af385d9b8235ae93c84
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00281/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec521763ed5144386eae4a268718d35812dca2c08bec9c231025149097038427
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00281/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00281/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..ede3361047366841ca2bf544e7b5119803a67fc6
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00281/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70214846de16f6e4a0f19020f9815b154eb2bd15cb2054191de954175e11e00b
+size 81735
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00281/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00281/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..d9b29ee7d65b9ba558152166ac75cbe84dda422a
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00281/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3b366982a2948ea36261e184dcc124b158eeec5c0eaecf5083dbcce1444b6c6
+size 1630712
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00282/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00282/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..c1311a8fd810f23d6267c6112d79d445722b5ef0
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00282/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f6e67f6923d3372ad3894d42c96d70aa70d729352ac83a5e7b463da7db400f1c
+size 1710171
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00282/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00282/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..d6e21962f33829500de212077af0cbc693378ac6
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00282/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffed8aaa6943031b5115d6e17ed515679df672b3138d837f36d9c57a5c70aeaa
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00282/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00282/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..b237cc186e5894759f6d6901f6580b9b18669f68
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00282/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94dfecc8a8610dd58f023b077e3307f826ebf0cf69c47cb42eb10253cbd89d0b
+size 80669
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00282/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00282/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..34d2f17c48903299b5dea2e3d63a1352fec511ab
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00282/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:964f799ec9d7196e8c66e5cdff14e56068d9b33148f844f1bb56d597a541c158
+size 1625133
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00286/debug.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00286/debug.png
new file mode 100644
index 0000000000000000000000000000000000000000..cefd769005f596bb497e5cb488fdc72cc3ed371e
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00286/debug.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77643acd2c97bc5b3813fb4b192a4646c80924c336f91915351f0f06c7c86b14
+size 1686511
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00286/depth.npy b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00286/depth.npy
new file mode 100644
index 0000000000000000000000000000000000000000..69863670dddf1f618453fab0e1119688d22fc6d1
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00286/depth.npy
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e672c07ccc78409f7c229c6eef3612b744152f10eec075867c46afb9585fea3
+size 3686528
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00286/instance.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00286/instance.png
new file mode 100644
index 0000000000000000000000000000000000000000..1a8b339cff7a8dc3981fe618512471dcc5faa25c
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00286/instance.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72ca3366d6340f95ca09006cdcb948834b39c34c456d910820246a8e50feafa1
+size 69311
diff --git a/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00286/rgb.png b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00286/rgb.png
new file mode 100644
index 0000000000000000000000000000000000000000..e8182b98358fc6b92e411d2de82b226f4fb986ce
--- /dev/null
+++ b/data_v7/Town04_Opt/trajectory_1777190716/ORI/frames_playback/frame_00286/rgb.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8268690e7da82864ca8e88f333ca597b1a15deee74c6f1dd38ccce6866495888
+size 1606692